Zendaya and Tom Holland, who recently got engaged, kept their initial relationship 'under wraps' while she was on 'K.C. Undercover,' says her former costar Tammy Townsend.

Tammy Townsend, who played Zendaya’s mother on the TV show, revealed the cast 'knew there was a really strong connection' ...

Together, K.C. and her parents, Craig and Kira, and her younger siblings, Ernie and Judy (a humanoid robot), try to balance everyday family life while on undercover missions, near and far ...

For K.C. Undercover’s 10th anniversary on Jan. 18 ... Craig Sjodin/Disney Stokes tells PEOPLE that the cast “always knew” stardom was on the horizon for Zendaya because of her “tenacity ...

Zendaya and Tom Holland’s relationship has always been a carefully guarded secret, with the couple keeping their romance ...

According to Tammy Townsend, Zendaya’s former K.C. Undercover costar ... who played Zendaya’s mom on the TV show revealed the cast “definitely knew that there was a really strong connection ...